Tracking control for an Autonomous Underwater Vehicle based on multiplicative potential energy function

Zool Ismail, B Mokhar, Mathew Walter Dunnigan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

This paper presents a new adaptive region boundary-based tracking control for an Autonomous Underwater Vehicle (AUV). The proposed controller enables an AUV to track a moving target formed by the union of two or more boundaries. In this case, multiplicative potential energy function is used to unite the entire boundaries. The AUV also navigates into a specific position on the boundary lines or surfaces while the target itself is moving. A Lyapunov-like function is presented for convergence analysis of the AUV. Simulation results on AUV with 6 degrees-of-freedom are presented to illustrate the performance of the proposed controller.
Original languageEnglish
Title of host publicationOCEANS 2012 MTS/IEEE Yeosu Conference: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities; Yeosu; South Korea
ISBN (Electronic)978-145772089-5
Publication statusPublished - 2012

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    Ismail, Z., Mokhar, B., & Dunnigan, M. W. (2012). Tracking control for an Autonomous Underwater Vehicle based on multiplicative potential energy function. In OCEANS 2012 MTS/IEEE Yeosu Conference: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities; Yeosu; South Korea